/PROG  TL2_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 PICK";
PROG_SIZE	= 1319;
CREATE		= DATE 12-04-21  TIME 11:52:30;
MODIFIED	= DATE 25-05-05  TIME 21:34:06;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 27;
MEMORY_SIZE	= 1715;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26:TOOL #2]=ON    ;
   6:J P[1:CLEAR] 90% CNT50    ;
   7:L P[4:APPROACH] 600mm/sec CNT50 ACC70    ;
   8:L P[5:APPROACH] 300mm/sec CNT50    ;
   9:L P[6:APPROACH] 300mm/sec FINE    ;
  10:  DO[13:REQ ATC CHUCK]=OFF ;
  11:  DO[14:REQ ATC UNCHUCK]=ON ;
  12:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  13:  WAIT    .50(sec) ;
  14:L P[7:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  15:  WAIT   1.00(sec) ;
  16:  DO[21:TOOL2 POS]=ON ;
  17:  DO[14:REQ ATC UNCHUCK]=OFF ;
  18:  DO[13:REQ ATC CHUCK]=ON ;
  19:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  20:  WAIT   1.00(sec) ;
  21:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  22:L P[9:APPROACH] 300mm/sec CNT50    ;
  23:  WAIT DI[26:TOOL #2]=OFF    ;
  24:L P[10:APPROACH] 300mm/sec CNT50    ;
  25:L P[12:CLEAR] 600mm/sec CNT50    ;
  26:   ;
  27:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3246.552  mm,	Y =  -862.831  mm,	Z =  -527.000  mm,
	W =   180.000 deg,	P =      .000 deg,	R =   -87.929 deg,
	E1=    18.100 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.857 deg,	J2=   -22.102 deg,	J3=    83.579 deg,
	J4=   -87.208 deg,	J5=  -110.680 deg,	J6=   276.992 deg,
	E1=    15.885 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3232.822  mm,	Y =  -694.238  mm,	Z = -1255.200  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.885 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3241.188  mm,	Y =  -669.323  mm,	Z = -1442.006  mm,
	W =  -179.714 deg,	P =    89.326 deg,	R =   -89.784 deg,
	E1=    16.961 deg
};
P[7:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3241.189  mm,	Y =  -496.090  mm,	Z = -1442.006  mm,
	W =  -179.715 deg,	P =    89.326 deg,	R =   -89.785 deg,
	E1=    16.961 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3244.975  mm,	Y =  -508.260  mm,	Z = -1341.678  mm,
	W =  -179.715 deg,	P =    89.325 deg,	R =   -89.786 deg,
	E1=    17.147 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3228.901  mm,	Y =  -721.698  mm,	Z = -1336.953  mm,
	W =  -179.930 deg,	P =    89.399 deg,	R =   -89.615 deg,
	E1=    15.871 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3224.312  mm,	Y =  -682.576  mm,	Z = -1100.000  mm,
	W =   179.895 deg,	P =    87.670 deg,	R =   -89.630 deg,
	E1=    15.731 deg
};
P[12:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3246.552  mm,	Y =  -862.831  mm,	Z =  -527.000  mm,
	W =  -180.000 deg,	P =      .000 deg,	R =   -87.929 deg,
	E1=    18.100 deg
};
/END
